Profile palletizing mechanical gripper

Abstract

This utility model belongs to the field of profile stacking technology, and provides a profile stacking mechanical gripper, including a gripper frame and a gripping and releasing mechanism. The gripping and releasing mechanism includes a material support component, a gripping and releasing power component, a pressing component, and a pressing power component. There are two material support components, which are slidably disposed at both ends of the gripper frame. The gripping and releasing power component is mounted on the gripper frame and is used to drive the two material support components to move closer or further apart. The pressing component is disposed between the two material support plates, and the pressing power component is mounted on the gripper frame and is used to drive the pressing component to rise and fall. This profile stacking mechanical gripper uses a method of holding the two ends of the profile to clamp and transfer it. The shape and material of the profile do not affect the normal gripping and releasing of the profile. The structure is simple and versatile, and the lifting method for transferring the profile does not affect the surface quality of the profile. It can also clamp multiple profiles at once, resulting in higher efficiency.

Description

Technical Field

[0001] This utility model relates to the field of profile stacking technology, and in particular to a mechanical gripper for profile stacking. Background Technology

[0002] In the production of profiles, multiple profiles are typically stacked for bulk shipment and transportation. A palletizing machine is an automated device that arranges profiles in a specific pattern to form a stack. The most important component of a palletizing machine is the mechanical gripper, which is mainly of two types: suction-type and gripping-type. Suction-type grippers use suction cups or magnets to grasp profiles. Their advantage is that they can grasp profiles without damaging their surface. However, their application is limited; magnetic grippers can only grasp profiles that can be attracted by magnets, limiting the material of the profiles; suction cup grippers have requirements on the adsorption area, thus limiting the shape of the profiles they can grasp. Gripping-type grippers use hand grippers to hold profiles. Their advantage is a wide range of applications, with no restrictions on the material or shape of the profiles. However, the disadvantage is that directly clamping the profile may damage its surface quality, making them unsuitable for applications requiring high surface quality.

[0003] The technical problem to be solved by this utility model is: how to solve the problem of low versatility of existing profile palletizing mechanical grippers. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a profile palletizing mechanical gripper with simple structure and good versatility.

[0005] The technical solution adopted by this utility model is as follows: a profile stacking mechanical gripper, including a gripper frame and a gripping and releasing mechanism. The gripping and releasing mechanism includes a material support component, a gripping and releasing power component, a pressing component, and a pressing power component. There are two material support components, which are slidably arranged at both ends of the gripper frame. The gripping and releasing power component is installed on the gripper frame and is used to drive the two material support components to move closer or further apart. The pressing component is arranged between the two material support plates and is installed on the gripper frame. The pressing power component is used to drive the pressing component to rise and fall.

[0006] The profile palletizing mechanical gripper of this application features a sliding support at each end of the gripper frame. When gripping a profile, a gripping and releasing power component drives the two support components closer together, lifting the profile. Then, a pressing power component drives a pressing component to descend, pressing the profile onto the two support components, preventing profile movement during transport and ensuring reliable clamping. When lowering the profile, the pressing power component first drives the pressing component upward, followed by the gripping and releasing power component driving the two support components away from each other, allowing the profile to fall from the support components onto the pallet. This profile palletizing mechanical gripper uses a method of holding the profile at both ends to clamp and transfer it. The shape and material of the profile do not affect the normal gripping and releasing, offering good versatility. Furthermore, the lifting method does not affect the surface quality of the profile, and it can clamp multiple profiles at once, resulting in higher efficiency.

[0007] In some embodiments, the gripping and releasing mechanism further includes two slide blocks that are slidably disposed at both ends of the gripper frame, two material support components that are connected to the two slide blocks respectively, and a gripping and releasing power component that is connected to the two slide blocks through a transmission assembly.

[0008] In some embodiments, there are two pressing components, which are respectively mounted on two slides, and each slide is equipped with a pressing power component.

[0009] By adopting the above technical solution, the pressing power component and the pressing component are set on two slides, so that the pressing power component and the pressing component can move according to the following support component, so that the distance between the two pressing components matches the length of the profile. Moreover, the pressing component can be set close to the support component to avoid bending the profile when the pressing component presses down, thus ensuring the shape quality of the profile.

[0010] In some embodiments, the pressure component is provided with a guide post, and the slide is provided with a guide sleeve that slides with the guide post.

[0011] By adopting the above technical solution, the lifting and lowering of the pressure component can be made smoother and more precise through the cooperation of the guide post and the guide sleeve, thereby improving the reliability of profile clamping.

[0012] In some embodiments, the gripping and releasing mechanism also includes a bottom-pulling power component mounted on two slides, which is used to drive the material support component to move closer to or away from the slides.

[0013] Using the above technical solution, when the profile is lowered, the bottom-pulling power component drives the material support component away from the slide, so that the profile falls off the material support component, making the lowering action of the profile faster. When the profile is clamped, the bottom-pulling power component first drives the material support component to approach the slide table, and then the gripping and releasing power component drives the material support components at both ends to move to the bottom of the profile so that the material support component can lift the profile.

[0014] In some embodiments, the gripping and releasing mechanism further includes anti-reverse baffles installed on two slides. The anti-reverse baffles are disposed between the material support and the pressure member, and are spaced above the material support. The vertical distance between the anti-reverse baffles and the material support is less than the height of the profile.

[0015] By adopting the above technical solution, the anti-reverse baffle can prevent the profile from moving with the support component when the bottom-pulling power component drives the support component away from the slide, so that the profile can be placed on the pallet with both ends flush, thereby ensuring the quality of profile stacking.

[0016] In some implementations, the material support component is connected to a slide table, which is slidably connected to the gripper frame, and the output end of the bottom-pulling power component is drivenly connected to the slide table.

[0017] In some embodiments, the gripper frame is provided with a guide rail, the slide block is provided with a first slider that slides and engages with the guide rail, and the slide table is provided with a second slider that slides and engages with the guide rail.

[0018] By adopting the above technical solution, the sliding of the slide block and the slide table can be made smoother and more precise through the cooperation of the slider and the guide rail.

[0019] In some implementations, a height detection element is mounted on the slide to detect the height of the external tray.

[0020] By adopting the above technical solution, the height of the pallet is detected by a height detection device before the first layer of profiles is stacked onto the pallet. This can provide a height benchmark for the subsequent stacking of profiles, making the subsequent stacking of profiles more accurate.

[0021] In some embodiments, the transmission assembly includes a first lead screw, a first nut, and a second nut. The gripping and releasing power component is a servo motor that drives the first lead screw and the second lead screw to rotate. The first nut and the second nut are respectively mounted on two slides. The first nut is threadedly connected to the first lead screw, and the second nut is threadedly connected to the second lead screw.

[0022] By adopting the above technical solution, the two slides can be driven to move closer or further apart by a single power component, which can ensure the synchronicity of the two slides' movements and save on the number of power components, thus reducing costs. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a profile palletizing mechanical gripper according to a preferred embodiment of the present invention;

[0024] Figure 2 for Figure 1 The diagram shows a structural schematic of the profile palletizing mechanical gripper from another perspective.

[0025] Figure 3 for Figure 1 The diagram shows a structural schematic of the profile palletizing mechanical gripper from another perspective.

[0026] Figure 4 for Figure 1 The diagram shows a partial structural schematic of the gripping and releasing mechanism in the profile palletizing machine's gripper.

[0027] Figure 5 for Figure 4 The diagram shows another perspective of the gripping and releasing mechanism.

[0028] Figure 6 for Figure 4 The diagram shows a structural schematic of the gripping and releasing mechanism from another perspective.

[0029] In the diagram: 100, profile stacking machine gripper; 10, gripper frame; 20, gripping and releasing mechanism; 21, material support component; 22, gripping and releasing power component; 23, pressing component; 24, pressing power component; 25, slide; 26, bottom pulling power component; 27, anti-backward baffle; 28, slide table; 29, height detection component. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. When the number of elements is referred to as "multiple," it can be any number of two or more. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] Please see Figures 1 to 6A preferred embodiment of the present invention provides a profile stacking mechanical gripper 100, comprising a gripper frame 10 and a gripping and releasing mechanism 20. The gripping and releasing mechanism 20 includes a material support component 21, a gripping and releasing power component 22, a pressing component 23, and a pressing power component 24. There are two material support components 21, which are slidably disposed at both ends of the gripper frame 10. The gripping and releasing power component 22 is mounted on the gripper frame 10 and is used to drive the two material support components 21 to move closer or further apart. The pressing component 23 is disposed between the two material support plates. The pressing power component 24 is mounted on the gripper frame 10 and is used to drive the pressing component 23 to rise and fall.

[0034] The profile palletizing mechanical gripper 100 of this application has a sliding support member 21 at each end of the gripper frame 10. When gripping a profile, the gripping and releasing power member 22 drives the two support members 21 to move closer together, lifting the profile. Then, the pressing power member 24 drives the pressing member 23 to descend, pressing the profile onto the two support members 21 to prevent the profile from moving during the movement and ensure the reliability of the profile clamping. When lowering the profile, the pressing power member 24 first drives the pressing member 23 to rise, and then the gripping and releasing power member 22 drives the two support members 21 to move away from each other, so that the profile falls from the support members 21 onto the pallet. The profile palletizing mechanical gripper 100 of this application clamps and transfers the profile by supporting both ends of the profile. The shape and material of the profile do not affect the normal gripping and release of the profile, which has good versatility. Moreover, the lifting method for transferring the profile does not affect the surface quality of the profile, and it can clamp multiple profiles at once, which is more efficient.

[0035] like Figures 1 to 3 As shown, the gripping and releasing mechanism 20 also includes two slide blocks 25 that are slidably disposed at both ends of the gripper frame 10, two material support members 21 that are respectively connected to the two slide blocks 25, and the gripping and releasing power member 22 is connected to the two slide tables 28 through a transmission assembly.

[0036] In this embodiment, there are two pressing components 23, which are respectively installed on two slide blocks 25. Each slide block 25 is equipped with a pressing power component 24. By setting the pressing power component 24 and the pressing components 23 on the two slide blocks 25, the pressing power component 24 and the pressing components 23 can move according to the following material support component 21, so that the distance between the two pressing components 23 matches the length of the profile. Moreover, the pressing components 23 can be set close to the material support component 21 to avoid bending the profile when the pressing components 23 press down, thus ensuring the shape quality of the profile.

[0037] In other embodiments, the number of pressure members 23 can be increased or decreased according to actual needs.

[0038] Furthermore, the clamping component 23 is provided with guide posts, and the slide block 25 is provided with guide sleeves that slide in cooperation with the guide posts. The cooperation between the guide posts and guide sleeves makes the lifting and lowering of the clamping component 23 smoother and more precise, improving the reliability of profile clamping.

[0039] like Figure 4 Only Figure 6 As shown, the gripping and releasing mechanism 20 also includes a bottom-pulling power component 26 mounted on two slides 25. The bottom-pulling power component 26 is used to drive the material support component 21 to move closer to or away from the slides 25. When lowering the profile, the bottom-pulling power component 26 drives the material support component 21 away from the slides 25, thereby causing the profile to fall off the material support component 21, making the lowering action of the profile faster. When gripping the profile, the bottom-pulling power component 26 first drives the material support component 21 to move closer to the slide table 28, and then the gripping and releasing power component 22 drives the material support components 21 at both ends to move to the bottom of the profile, so that the material support component 21 can lift the profile.

[0040] Preferably, the gripping and placing mechanism 20 further includes anti-reverse baffles 27 installed on two slides 25. The anti-reverse baffles 27 are disposed between the material support member 21 and the pressing member 23, and are spaced above the material support member 21. The vertical distance between the anti-reverse baffles 27 and the material support member 21 is less than the height of the profile. The anti-reverse baffles 27 can prevent the profile from moving with the material support member 21 when the bottom-pulling power member 26 drives the material support member 21 away from the slide 25, so that the profile can be placed on the pallet with both ends flush, thereby ensuring the quality of profile stacking.

[0041] Furthermore, the material support component 21 is connected to a slide table 28, which is slidably connected to the gripper frame 10, and the output end of the bottom-pulling power component 26 is connected to the slide table 28 for transmission.

[0042] Furthermore, the gripper frame 10 is equipped with a guide rail (not shown in the figure), the slide block 25 is equipped with a first slider (not shown in the figure) that slides and engages with the guide rail, and the slide table 28 is equipped with a second slider (not shown in the figure) that slides and engages with the guide rail. The cooperation between the slider and the guide rail makes the sliding of the slide block 25 and the slide table 28 smoother and more precise.

[0043] To improve the accuracy of profile stacking, a height detection element 29 is installed on the slide 25. The height detection element 29 is used to detect the height of the external pallet. Before stacking the first layer of profiles onto the pallet, the height of the pallet is detected by the height detection element 29, which provides a height reference for the subsequent stacking of profiles, making the subsequent stacking of profiles more accurate.

[0044] Optionally, the height detection component 29 is a height detection cylinder.

[0045] In this embodiment, the transmission assembly includes a first lead screw (not shown), a first nut (not shown), and a second nut (not shown). The gripping and releasing power component 22 is a servo motor, which drives the first and second lead screws to rotate. The first and second nuts are respectively mounted on two slide blocks 25. The first nut is threaded to the first lead screw, and the second nut is threaded to the second lead screw. By using a single gripping and releasing power component 22 to drive the two slide blocks 25 closer or further apart, the synchronicity of the movements of the two slide blocks 25 can be ensured, while also saving on the number of power components and reducing costs. Moreover, in addition to driving the two material support components 21 closer or further apart to achieve the power source for gripping and lowering the profile, the gripping and releasing power component 22 can also adjust the distance between the two slide blocks 25 according to the length of the profile, making the profile palletizing robot of this application applicable to profiles of different lengths, thus improving its versatility.

[0046] In other embodiments, the transmission assembly may also employ a synchronous pulley and synchronous belt, chain and sprocket, or other similar transmission methods.

[0047] Preferably, in order to prevent damage to the profile, a buffer is provided at the bottom of the pressure member 23. The buffer can be made of plastic, silicone or rubber.

[0048] In this embodiment, both the pressing power component 24 and the bottom-pulling power component 26 are cylinders. In other embodiments, hydraulic cylinders, electric actuators, or motors, which can achieve the same function, can also be used as the pressing power component 24 and the bottom-pulling power component 26.

[0049] In this embodiment, the cross-sectional shape of the material support 21 is "L" shaped, consisting of a connecting part connected to the slide table 28 and a material support part for supporting the profile. The connecting part is vertically arranged, and the material support part is horizontally arranged. The "L" shaped cross-section of the material support 21 can not only support the profile, but also improve the structural strength of the material support 21 and enhance its load-bearing capacity.

[0050] The working principle of the profile palletizing robot in this application is as follows:

[0051] When gripping the profile, the gripping and releasing power component 22 adjusts the distance between the two slides 25 according to the length of the profile, so that the distance between the two material support components 21 is slightly greater than the length of the profile. The lifting power component (not shown) drives the gripper to descend, so that the height of the material support component 21 is slightly lower than the bottom of the profile to be gripped. Then, the gripping and releasing power component 22 drives the two slides 25 to slide, so that the material support component 21 is inserted into the bottom of the profile. The lifting power component drives the gripper to rise to a certain height, so that the material support component 21 supports the profile. Then, the pressing power component 24 drives the pressing component 23 to press down and hold the profile. Then, the lifting power component and the translational power component (not shown) cooperate to drive the gripper to transfer to the pallet. When lowering the profile, the lifting power component drives the gripper to descend to the lowering height, the pressing power component 24 drives the pressing component 23 to rise, and then the bottom-pulling power component 26 drives the supporting component 21 to be pulled out from the bottom of the profile. The profile does not move with the supporting component 21 due to the obstruction of the anti-reverse baffle 27, and finally falls on the pallet. After the supporting component 21 rises above the top profile on the pallet, the bottom-pulling power component 26 drives the supporting component 21 to reset. Then the lifting power component and the translational power component drive the gripper to reset. The above actions are repeated to carry out continuous profile gripping and lowering cycle operation.

[0052] Finally, it should be noted that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A profile stacking mechanical gripper, comprising a gripper frame (10) and a gripping and releasing mechanism (20), characterized in that, The gripping and releasing mechanism (20) includes a material support (21), a gripping and releasing power component (22), a pressing component (23), and a pressing power component (24). There are two material support components (21), which are slidably disposed at both ends of the gripper frame (10). The gripping and releasing power component (22) is installed on the gripper frame (10) and is used to drive the two material support components (21) to move closer or further away from each other. The pressing component (23) is disposed between the two material support plates. The pressing power component (24) is installed on the gripper frame (10) and is used to drive the pressing component (23) to rise and fall.

2. The profile palletizing mechanical gripper according to claim 1, characterized in that, The gripping and releasing mechanism (20) also includes two slide blocks (25) that are slidably disposed at both ends of the gripper frame (10), and the two material support components (21) are respectively connected to the two slide blocks (25). The gripping and releasing power component (22) is connected to the two slide tables (28) through a transmission assembly.

3. The profile palletizing mechanical gripper according to claim 2, characterized in that, The number of the pressing component (23) is two, and the two pressing components (23) are respectively installed on two slides (25). Each of the two slides (25) is equipped with a pressing power component (24).

4. The profile palletizing mechanical gripper according to claim 3, characterized in that, The pressing component (23) is provided with a guide post, and the slide block (25) is provided with a guide sleeve that slides with the guide post.

5. The profile palletizing mechanical gripper according to claim 2, characterized in that, The gripping and releasing mechanism (20) also includes a bottom-pulling power component (26) installed on two slides (25), which is used to drive the material support component (21) to move closer to or away from the slides (25).

6. The profile palletizing mechanical gripper according to claim 5, characterized in that, The gripping and releasing mechanism (20) also includes anti-reverse baffles (27) installed on two slides (25). The anti-reverse baffles (27) are arranged between the material support (21) and the pressure member (23), and the anti-reverse baffles (27) are spaced above the material support (21). The vertical distance between the anti-reverse baffles (27) and the material support (21) is less than the height of the profile.

7. The profile palletizing mechanical gripper according to claim 5, characterized in that, The material support (21) is connected to a slide (28), the slide (28) is slidably connected to the gripper frame (10), and the output end of the bottom-pulling power component (26) is connected to the slide (28) in a transmission connection.

8. The profile palletizing mechanical gripper according to claim 7, characterized in that, The gripper frame (10) is provided with a guide rail, the slide block (25) is provided with a first slider that slides in cooperation with the guide rail, and the slide table (28) is provided with a second slider that slides in cooperation with the guide rail.

9. The profile palletizing mechanical gripper according to claim 2, characterized in that, A height detection element (29) is installed on the slide (25), which is used to detect the height of the external tray.

10. The profile palletizing mechanical gripper according to claim 2, characterized in that, The transmission assembly includes a first lead screw, a first nut, and a second nut. The gripping and releasing power component (22) is a servo motor. The gripping and releasing power component (22) drives the first lead screw and the second lead screw to rotate. The first nut and the second nut are respectively installed on two slides (25). The first nut is threadedly connected to the first lead screw, and the second nut is threadedly connected to the second lead screw.

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